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— | ref:reaction_force_measure [2023/12/14 16:03] (current) – created - external edit 127.0.0.1 | ||
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+ | ====== ReactionForceMeasure ====== | ||
+ | [[measure|Measure]] that penalizes ground reaction forces above a certain threshold. | ||
+ | |||
+ | See [[range_penalty|RangePenalty]] for details on how to set range, abs_penalty and squared_penalty. | ||
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+ | **Inherits from** [[measure|Measure]], | ||
+ | |||
+ | ==== Public Attributes ==== | ||
+ | ^ Parameter ^ Type ^ Description ^ | ||
+ | ^ use_force_per_leg | bool | measure force per leg instead of sum of forces; defaut = false. | | ||
+ | ^ name | String | Name of the [[measure|Measure]], | ||
+ | ^ weight | Real | Weighting factor applied to the result of the measure; default = 1. | | ||
+ | ^ threshold | Real | Threshold above / below which the measure becomes zero; default = 0. | | ||
+ | ^ threshold_transition | Real | Transition range above '' | ||
+ | ^ result_offset | Real | Offset added to measure result; default = 0. | | ||
+ | ^ minimize | bool | Indicate whether this measure should be minimized; default value depends on the measure type (usually true). | | ||
+ | ^ start_time | TimeInSeconds | Time [s] at which [[controller|Controller]] becomes active; default = 0. | | ||
+ | ^ stop_time | TimeInSeconds | Time [s] at which [[controller|Controller]] becomes inactive; default = until simulation ends. | | ||
+ | ^ signature_prefix | String | Prefix signature with custom string. Special tags: DATE_TIME, DATE_TIME_EXACT, | ||
+ | ^ signature_postfix | String | Append custom string to signature. Special tags: DATE_TIME, DATE_TIME_EXACT, | ||
+ | ^ signature | String | Set custom signature and omit the auto-generated signature. | | ||
+ | ^ abs_penalty | Real | Absolute penalty factor when value is out of range; default = 0. | | ||
+ | ^ squared_penalty | Real | Squared penalty factor when value out of range; default = 0. | | ||
+ | ^ mode | penalty_mode | Use the peek range violation instead of average range violation; default = 0. | | ||
+ | ^ min | Real | Minimum value or lower bound of the range; default = -inf. | | ||
+ | ^ max | Real | Maximum value or upper bound of the range; default = inf. | | ||
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+ | < | ||